<?xml version="1.0"?>
<launch>

    <node pkg="amcl" type="amcl" name="amcl" output="screen" required="true">
        <remap from="scan" to="/scan"/>
        <param name="odom_frame_id" value="odom"/>
        <param name="odom_model_type" value="diff-corrected"/>
        <param name="base_frame_id" value="base_link"/>
        <param name="update_min_d" value="0.1"/>
        <param name="update_min_a" value="0.2"/>
        <param name="min_particles" value="500"/>
    </node>

</launch>